EP1060057B1 - Wiring arrangement for a multi-axial industrial robot - Google Patents
Wiring arrangement for a multi-axial industrial robot Download PDFInfo
- Publication number
- EP1060057B1 EP1060057B1 EP99911727A EP99911727A EP1060057B1 EP 1060057 B1 EP1060057 B1 EP 1060057B1 EP 99911727 A EP99911727 A EP 99911727A EP 99911727 A EP99911727 A EP 99911727A EP 1060057 B1 EP1060057 B1 EP 1060057B1
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- EP
- European Patent Office
- Prior art keywords
- line
- cantilever arm
- lines
- boom
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 239000000872 buffer Substances 0.000 claims description 7
- 239000011324 bead Substances 0.000 claims 1
- 238000004804 winding Methods 0.000 description 2
- 241001620634 Roger Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
Definitions
- the invention relates to a multi-axis industrial robot with a cable routing with the features in the preamble of the main claim.
- Such a robot with a cable routing is from the DE-U-88 14 906 known.
- the robot has a boom and a robotic hand, with the wires in a bundle are laid along the boom to the robot hand and arranged in an approximate middle boom area Line holder are guided.
- the lines are in Line holder held axially movable, the Boom with a short distance to the boom housing arranged line holder has two rotary bearings. On the one hand, it can be a cross to the boom swivel the aligned axis of rotation. On the other hand, the Line holder a ring bearing, with which it is outside can rotate around the boom.
- DE-U-94 06 405 shows an industrial robot with a Cable routing, in which the cables are in a essentially straight line along the boom to Robotic hand.
- the boom and in its swivel axis area are the Lines laid in the floor and in a surrounding Spiral spring guided on a fixed abutment on Boom is supported.
- a robot with a different cable routing is out of the DE-34 34 899 C2 known.
- the trunk group is along of the boom up to the robot hand on the outside.
- in the middle line is a cable holder for Guide the trunk group arranged, which is at the end a spring arm.
- the spring arm distances that Cable bundle from the boom, the cables in one Hang loop that offers enough stock to Changes in length and line tightening through movements of the tool and / or the robot hand.
- a similar cable routing is shown in DE-A-32 37 184.
- the movements of the Tool and / or the robot hand should compensate.
- This protruding cable routing increases in undesirable the interference limits of the robot.
- This on the one hand reduces the mobility of the robot and on the other hand, the accessibility of narrow spaces on the Workpiece.
- the free hanging loop in to swing back and forth in an uncontrollable manner with regard to the interference limits of the robot is undesirable and furthermore the risk of The cables get caught on obstacles in the Work area of the robot.
- a protruding spring arm is dispensed with in the line routing according to the invention.
- the cable holder is rotatably mounted on the bracket near the housing. This results in low loads on the cable bundle and the cable holder.
- the cable holder allows the cable bundle to move axially, which can be pulled through the cable holder to follow robot hand and tool movements.
- the bead-like hose buffers can provide a kind of plain bearing and also prevent the cable bundle from rubbing against the boom housing.
- the lines are tight To run boom housing along and preferably also helical to wind the boom.
- the convoluted form offers sufficient line supply for Tracking, on the other hand the disturbance behavior and the Risk of collision by avoiding hanging loops is minimized.
- the narrow cable routing reduces the Limits of interference and by slimming down enables that the robot even in hard-to-reach or confined spaces Workpiece reached. He can e.g. without danger from a Grip window opening on a vehicle body and in whose interior work.
- the bead-like hose buffers are for tight screw or spiral Cable routing particularly advantageous.
- the arrangement and Rotary mounting of the cable holder supports the winding tight wiring.
- the invention relates to a cable routing (8) for a multi-axis industrial robot (1), as shown in FIGS. 1 and 2 is shown in parts and broken off, but Figure 1 does not show the essential tube buffer.
- the Industrial robot (1) has e.g. a rotating base Frame (not shown) on which a rocker (2) around a substantially horizontal axis pivotable is articulated.
- the rocker (2) carries one at the top Boom (3), which also has a substantially horizontal pivot axis (6) is articulated.
- the boom (3) has preferably two or three-axis robot hand (4) that guides the tool (5).
- At the rear end of the boom there are one or more motors (7) arranged. These are mainly for driving the individual parts of the robot hand (4) can be provided but also the boom (3) opposite the rocker (2) drive.
- As a boom in this embodiment last robot link in front of the robot hand (4) Roger that.
- the industrial robot (1) has one or more Lines for supplying the robot components and / or the Tool (5). These can be power cables, hose lines for fluidic equipment or the like.
- the lines are preferably in a line bundle or line package (9) combined and in one Envelope tube arranged.
- the line package (9) is along the robot components (2,3) to hand (4) and if necessary up to the tool (5).
- the cable routing (8) has approximately in the middle area the boom (3) a line holder (10), the is arranged close to the housing on the boom (3).
- the Line holder (10) is preferably a short one Stub holder designed and is preferably on the top of the boom (3). It has a pivot bearing (12) which is essentially transverse to the boom axis aligned and essentially with extended boom position has vertical axis of rotation (17).
- the line holder (10) has for receiving the Line package (9) a guide (11) that the Line package (9) includes on the outside and longitudinally movable leads.
- the guide (11) can e.g. as tubular and flaring at both ends at the ends Spout be formed.
- the boom (3) can have one at its rear end have a further line holder (16). This is e.g. on a small, in the upper corner area projecting housing extension (13) of the boom (3) arranged. It also has a pivot bearing (12). Whose axis of rotation (18) is transverse to the axis of rotation (17) of the first line holder (10) aligned and takes one in essential horizontal position. The axis of rotation (18) can run essentially parallel to the pivot axis (6).
- the line holder (16) can also be one have another axis of rotation similar to the axis of rotation (12).
- the line package (9) is on the outside along the rocker (2) and further along of the boom (3) out.
- the cable routing (8) is preferably narrow and with a small side distance guided along the boom (3).
- the cable package (9) is wound helically around the boom (3).
- the line package (9) or can have several hose buffers (15) which it distance from the boom housing. It can be act, for example, as bulges protruding. These consist of a wear-resistant and relative low-friction material.
- the hose buffers (15) offer also a sliding guide for the cable package (9). They are preferably in the helical winding area of the Line package (9) arranged. But you can also in the essentially straight line area between the cable holders (10, 16) above his.
- the line package (9) can also be a resilient Have hose clamps (14). This is e.g. behind the second line holder (16) arranged.
- the Hose tensioner (14) is supported on the front end Line holder (16) and at the rear end on one the stop ring attached to the cable package (9).
- the Hose tensioner (14) consists of a Helical compression spring following the line package (9) holds under tension at the back and for the correct cable bend at the transition between the swing arm (2) and the boom (3) worries.
- the hose tensioner (14) can in detail as in of DE 94 06 405 U1.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Die Erfindung betrifft einen mehrachsigen Industrieroboter mit einer Leitungsführung mit den Merkmalen im Oberbegriff des Hauptantspruchs.The invention relates to a multi-axis industrial robot with a cable routing with the features in the preamble of the main claim.
Ein solcher Roboter mit einer Leitungsführung ist aus der DE-U-88 14 906 bekannt. Der Roboter hat einen Ausleger und eine Roboterhand, wobei die Leitungen in einem Bündel entlang des Auslegers bis zur Roboterhand verlegt sind und in einem ca. am mittleren Auslegerbereich angeordneten Leitungshalter geführt sind. Die Leitungen sind im Leitungshalter axial beweglich gehalten, wobei der am Ausleger mit geringem Abstand zum Auslegergehäuse angeordnete Leitungshalter zwei Drehlagerungen aufweist. Zum einen kann er sich um eine quer zum Ausleger ausgerichtete Drehachse schwenken. Zum anderen hat der Leitungshalter ein Ringlager, mit dem er sich außenseitig rund um den Ausleger drehen kann.Such a robot with a cable routing is from the DE-U-88 14 906 known. The robot has a boom and a robotic hand, with the wires in a bundle are laid along the boom to the robot hand and arranged in an approximate middle boom area Line holder are guided. The lines are in Line holder held axially movable, the Boom with a short distance to the boom housing arranged line holder has two rotary bearings. On the one hand, it can be a cross to the boom swivel the aligned axis of rotation. On the other hand, the Line holder a ring bearing, with which it is outside can rotate around the boom.
Die DE-U-94 06 405 zeigt einen Industrieroboter mit einer Leitungsführung, bei der die Leitungen in einer im wesentlichen geraden Linie entlang des Auslegers bis zur Roboterhand verlegt sind. Am rückwärtigen Ende des Auslegers und in dessen Schwenkachsenbereich sind die Leitungen im Boden verlegt und in einer umgebenden Spiralfeder geführt, die über ein ortsfestes Widerlager am Ausleger abgestützt ist. Am vorderen Auslegerende befindet sich ein Führungsbügel, in dem die Leitungen in einem kleinen begrenzten Bogenwinkel seitlich am Ausleger entlanggleiten können. DE-U-94 06 405 shows an industrial robot with a Cable routing, in which the cables are in a essentially straight line along the boom to Robotic hand. At the back end of the The boom and in its swivel axis area are the Lines laid in the floor and in a surrounding Spiral spring guided on a fixed abutment on Boom is supported. Located at the front end of the boom a guide bracket in which the cables in one small limited arc angle on the side of the boom can slide along.
Ein Roboter mit einer anderen Leitungsführung ist aus der DE-34 34 899 C2 bekannt. Das Leitungsbündel ist entlang des Auslegers bis zur Roboterhand außenseitig verlegt. Im mittleren Auslegebereich ist ein Leitungshalter zur Führung des Leitungsbündels angeordnet, der sich am Ende eines Federarms befindet. Der Federarm distanziert das Leitungsbündel vom Ausleger, wobei die Leitungen in einer Schlaufe hängen, die genügend Vorrat bietet, um Längenänderungen und Leitungsstraffungen durch Bewegungen des Werkzeuges und/oder der Roboterhand auszugleichen.A robot with a different cable routing is out of the DE-34 34 899 C2 known. The trunk group is along of the boom up to the robot hand on the outside. in the middle line is a cable holder for Guide the trunk group arranged, which is at the end a spring arm. The spring arm distances that Cable bundle from the boom, the cables in one Hang loop that offers enough stock to Changes in length and line tightening through movements of the tool and / or the robot hand.
Eine ähnliche Leitungsführung zeigt die DE-A-32 37 184. Auch hier ist im mittleren Auslegebereich ein Leitungshalter mit großer Armlänge angeordnet, der das Leitungsbündel vom Ausleger distanziert. Durch die Distanz soll auf der Oberseite des Auslegers eine große freihängende Schlaufe gebildet werden, die Bewegungen des Werkzeugs und / oder der Roboterhand ausgleichen soll. Diese weitausladende Leitungsführung vergrößert in unerwünschter Weise die Störgrenzen des Roboters. Dies verringert einerseits die Beweglichkeit des Roboters und erschwert andererseits die Zugänglichkeit enger Stellen am Werkstück. Zudem kann die freihängende Schlaufe in unkontrollierbarer Weise hin- und herschwingen, was an sich in Hinblick auf die Störgrenzen des Roboters unerwünscht ist und darüber hinaus die Gefahr eines Hängenbleibens der Leitungen an Hindernissen im Arbeitsbereich des Roboters mit sich bringt.A similar cable routing is shown in DE-A-32 37 184. Here, too, is in the middle range Line holder arranged with a large arm length that the Cable bundle distanced from the bracket. By distance supposed to be a big one on the top of the boom free hanging loop are formed, the movements of the Tool and / or the robot hand should compensate. This protruding cable routing increases in undesirable the interference limits of the robot. This on the one hand reduces the mobility of the robot and on the other hand, the accessibility of narrow spaces on the Workpiece. In addition, the free hanging loop in to swing back and forth in an uncontrollable manner with regard to the interference limits of the robot is undesirable and furthermore the risk of The cables get caught on obstacles in the Work area of the robot.
Es ist Aufgabe der vorliegenden Erfindung, eine andere Leitungsführung aufzuzeigen.It is another object of the present invention To show the routing.
Die Erfindung löst diese Aufgabe mit den Merkmalen im
Hauptanspruch.
Bei der erfindungsgemäßen Leitungsführung wird auf einen
ausladenden Federarm verzichtet. Die Leitungshalterung ist
gehäusenah am Ausleger drehbar gelagert. Dadurch ergeben
sich geringe Belastungen für das Leitungsbündel und die
Leitungshalterung. Außerdem gestattet der Leitungshalter
eine axiale Beweglichkeit des Leitungsbündels, das zum
Folgen der Roboterhand- und Werkzeugbewegungen durch den
Leitungshalter gezogen werden kann. Die wulstartigen
Schlauchpuffer können eine Art Gleitlagerung bieten und
verhindern außerdem, daß das Leitungsbündel am
Auslegergehäuse scheuert.The invention solves this problem with the features in the main claim.
A protruding spring arm is dispensed with in the line routing according to the invention. The cable holder is rotatably mounted on the bracket near the housing. This results in low loads on the cable bundle and the cable holder. In addition, the cable holder allows the cable bundle to move axially, which can be pulled through the cable holder to follow robot hand and tool movements. The bead-like hose buffers can provide a kind of plain bearing and also prevent the cable bundle from rubbing against the boom housing.
Hierbei empfiehlt es sich, die Leitungen eng am Auslegergehäuse entlang zu führen und dabei vorzugsweise auch schraubenförmig um den Ausleger zu winden. Die gewundene Form bietet ausreichend Leitungsvorrat zum Nachführen, wobei andererseits das Störverhalten und die Kollisionsgefahr durch Vermeidung freihängender Schlaufen minimiert ist. Die enge Leitungsführung verkleinert die Störgrenzen und ermöglicht durch die Verschlankung, daß der Roboter auch schwer zugängliche oder enge Stellen am Werkstück erreicht. Er kann z.B. ohne Gefahr durch eine Fensteröffnung an einer Fahrzeugkarosserie greifen und in deren Innenraum arbeiten. Die wulstartigen Schlauchpuffer sind für die enge schrauben- oder spiralförmige Leitungsführung besonders vorteilhaft. Die Anordnung und Drehlagerung der Leitungshalter unterstützt die gewundene enge Leitungsführung.It is recommended that the lines are tight To run boom housing along and preferably also helical to wind the boom. The convoluted form offers sufficient line supply for Tracking, on the other hand the disturbance behavior and the Risk of collision by avoiding hanging loops is minimized. The narrow cable routing reduces the Limits of interference and by slimming down enables that the robot even in hard-to-reach or confined spaces Workpiece reached. He can e.g. without danger from a Grip window opening on a vehicle body and in whose interior work. The bead-like hose buffers are for tight screw or spiral Cable routing particularly advantageous. The arrangement and Rotary mounting of the cable holder supports the winding tight wiring.
Für die enge Leitungsführung ist es ferner vorteilhaft, am Ende des Auslegers einen weiteren Leitungshalter gehäusenah anzuordnen und diesem eine andere Drehachse als dem ersten Leitungshalter im Auslegermittelbereich zu geben. Für die enge Leitungsführung ist es besonders vorteilhaft, wenn ein federnder Schlauchspanner für die Leitungen vorhanden ist, der vorzugsweise am rückwärtigen Auslegerende angeordnet ist.For the tight routing, it is also advantageous on Another cable holder at the end of the boom to arrange close to the housing and this another axis of rotation than to the first cable holder in the middle of the boom give. It is special for the narrow cable routing advantageous if a resilient hose tensioner for the Lines is present, which is preferably at the rear Boom end is arranged.
In den Unteransprüchen sind weitere vorteilhafte Ausgestaltungen der Erfindung angegeben. In the subclaims are further advantageous Embodiments of the invention specified.
Die Erfindung ist in den Zeichnungen beispielsweise und schematisch dargestellt. Im einzelnen zeigen:
- Figur 1:
- eine Seitenansicht eines mehrachsigen Industrieroboters mit einer Leitungsführung und
- Figur 2:
- eine perspektivische Ansicht der Anordnung von Figur 1 von der gegenüberliegenden Seite.
- Figure 1:
- a side view of a multi-axis industrial robot with a cable routing and
- Figure 2:
- a perspective view of the arrangement of Figure 1 from the opposite side.
Die Erfindung betrifft eine Leitungsführung (8) für einen mehrachsigen Industrieroboter (1), wie er in Figur 1 und 2 in Teilen und abgebrochen dargestellt ist, wobei Figur 1 jedoch den wesentlichen Schlauchpuffer nicht zeigt. Der Industrieroboter (1) hat z.B. ein bodenseitig drehbares Gestell (nicht dargestellt), an dem eine Schwinge (2) um eine im wesentlichen horizontale Achse schwenkbar angelenkt ist. Die Schwinge (2) trägt am oberen Ende einen Ausleger (3), der mit einer ebenfalls im wesentlichen horizontalen Schwenkachse (6) angelenkt ist. Der Ausleger (3) hat am vorderen Ende die vorzugsweise zwei- oder dreiachsige Roboterhand (4), die das Werkzeug (5) führt. Am rückwärtigen Auslegerende sind ein oder mehrere Motoren (7) angeordnet. Diese sind vor allem für den Antrieb der einzelnen Teile der Roboterhand (4) vorgesehen, können aber auch den Ausleger (3) gegenüber der Schwinge (2) antreiben. Als Ausleger wird in dieser Ausführungsform das letzte vor der Roboterhand (4) befindliche Roboterglied verstanden.The invention relates to a cable routing (8) for a multi-axis industrial robot (1), as shown in FIGS. 1 and 2 is shown in parts and broken off, but Figure 1 does not show the essential tube buffer. The Industrial robot (1) has e.g. a rotating base Frame (not shown) on which a rocker (2) around a substantially horizontal axis pivotable is articulated. The rocker (2) carries one at the top Boom (3), which also has a substantially horizontal pivot axis (6) is articulated. The boom (3) has preferably two or three-axis robot hand (4) that guides the tool (5). At the rear end of the boom there are one or more motors (7) arranged. These are mainly for driving the individual parts of the robot hand (4) can be provided but also the boom (3) opposite the rocker (2) drive. As a boom in this embodiment last robot link in front of the robot hand (4) Roger that.
Der Industrieroboter (1) besitzt ein oder mehrere Leitungen zur Versorgung der Roboterbauteile und/oder des Werkzeuges (5). Dies können Stromkabel, Schlauchleitungen für fluidische Betriebsmittel oder dergleichen sein. Vorzugsweise sind die Leitungen zu einem Leitungsbündel oder Leitungspaket (9) zusammengefaßt und in einem Hüllschlauch angeordnet. Das Leitungspaket (9) ist entlang der Roboterbauteile (2,3) bis zur Hand (4) und gegebenenfalls bis zum Werkzeug (5) verlegt.The industrial robot (1) has one or more Lines for supplying the robot components and / or the Tool (5). These can be power cables, hose lines for fluidic equipment or the like. The lines are preferably in a line bundle or line package (9) combined and in one Envelope tube arranged. The line package (9) is along the robot components (2,3) to hand (4) and if necessary up to the tool (5).
Die Leitungsführung (8) besitzt etwa im mittleren Bereich des Auslegers (3) einen Leitungshalter (10), der gehäusenah am Ausleger (3) angeordnet ist. Der Leitungshalter (10) ist vorzugsweise als ein kurzer Stummelhalter ausgebildet und befindet sich vorzugsweise auf der Oberseite des Auslegers (3). Er hat ein Drehlager (12), das eine im wesentlichen quer zur Auslegerachse ausgerichtete und bei Auslegerstrecklage im wesentlichen senkrecht stehende Drehachse (17) besitzt.The cable routing (8) has approximately in the middle area the boom (3) a line holder (10), the is arranged close to the housing on the boom (3). The Line holder (10) is preferably a short one Stub holder designed and is preferably on the top of the boom (3). It has a pivot bearing (12) which is essentially transverse to the boom axis aligned and essentially with extended boom position has vertical axis of rotation (17).
Der Leitungshalter (10) besitzt zur Aufnahme des Leitungspaketes (9) eine Führung (11), die das Leitungspaket (9) außenseitig umfaßt und längsbeweglich führt. Die Führung (11) kann z.B. als rohrförmige und beidseits an den Enden trichterförmig sich erweiternde Tülle ausgebildet sein.The line holder (10) has for receiving the Line package (9) a guide (11) that the Line package (9) includes on the outside and longitudinally movable leads. The guide (11) can e.g. as tubular and flaring at both ends at the ends Spout be formed.
Der Ausleger (3) kann an seinem rückwärtigen Ende einen weiteren Leitungshalter (16) aufweisen. Dieser ist z.B. an einem in oberen Eckbereich befindlichen, kleinen, vorstehenden Gehäuseansatz (13) des Auslegers (3) angeordnet. Er besitzt ebenfalls ein Drehlager (12). Dessen Drehachse (18) ist quer zu der Drehachse (17) des ersten Leitungshalters (10) ausgerichtet und nimmt eine im wesentlichen horizontale Lage ein. Die Drehachse (18) kann im wesentlichen parallel zur Schwenkachse (6) verlaufen. Zusätzlich kann der Leitungshalter (16) auch noch eine weitere Drehachse ähnlich der Drehachse (12) aufweisen.The boom (3) can have one at its rear end have a further line holder (16). This is e.g. on a small, in the upper corner area projecting housing extension (13) of the boom (3) arranged. It also has a pivot bearing (12). Whose axis of rotation (18) is transverse to the axis of rotation (17) of the first line holder (10) aligned and takes one in essential horizontal position. The axis of rotation (18) can run essentially parallel to the pivot axis (6). In addition, the line holder (16) can also be one have another axis of rotation similar to the axis of rotation (12).
Wie Figur 1 und 2 verdeutlichen, ist das Leitungspaket (9) außenseitig entlang der Schwinge (2) und weiter entlang des Auslegers (3) geführt. Die Leitungsführung (8) ist dabei vorzugsweise eng und mit geringem Seitenabstand entlang des Auslegers (3) geführt. Das Leitungspaket (9) ist dabei schraubenförmig um den Ausleger (3) gewunden.As shown in FIGS. 1 and 2, the line package (9) is on the outside along the rocker (2) and further along of the boom (3) out. The cable routing (8) is preferably narrow and with a small side distance guided along the boom (3). The cable package (9) is wound helically around the boom (3).
Aus Figur 2 ist ersichtlich, daß das Leitungspaket (9) ein oder mehrere Schlauchpuffer (15) aufweisen kann, die es vom Auslegergehäuse distanzieren. Hierbei kann es sich beispielsweise um wulstartig vorstehende Muffen handeln. Diese bestehen aus einem verschleißfesten und relativ reibungsarmen Material. Die Schlauchpuffer (15) bieten auch eine Gleitführung für das Leitungspaket (9). Sie sind vorzugsweise im schraubenförmigen Windungsbereich des Leitungspaketes (9) angeordnet. Sie können aber auch in dem im wesentlichen gradlinigen Leitungsbereich zwischen den oben liegenden Leitungshaltern (10,16) angeordnet sein.From Figure 2 it can be seen that the line package (9) or can have several hose buffers (15) which it distance from the boom housing. It can be act, for example, as bulges protruding. These consist of a wear-resistant and relative low-friction material. The hose buffers (15) offer also a sliding guide for the cable package (9). they are preferably in the helical winding area of the Line package (9) arranged. But you can also in the essentially straight line area between the cable holders (10, 16) above his.
Das Leitungspaket (9) kann ferner einen federnden Schlauchspanner (14) besitzen. Dieser ist z.B. hinter dem zweiten Leitungshalter (16) angeordnet. Der Schlauchspanner (14) stützt sich am vorderen Ende an dem Leitungshalter (16) und am rückwärtigen Ende an einem auf dem Leitungspaket (9) befestigten Anschlagring ab. Der Schlauchspanner (14) besteht aus einer Schrauben-Druckfeder, die das Leitungspaket (9) nach hinten unter Zug hält und für die richtige Leitungsbiegung am Übergang zwischen den Schwinge (2) und dem Ausleger (3) sorgt. Der Schlauchspanner (14) kann im einzelnen wie in der DE- 94 06 405 U1 ausgebildet sein.The line package (9) can also be a resilient Have hose clamps (14). This is e.g. behind the second line holder (16) arranged. The Hose tensioner (14) is supported on the front end Line holder (16) and at the rear end on one the stop ring attached to the cable package (9). The Hose tensioner (14) consists of a Helical compression spring following the line package (9) holds under tension at the back and for the correct cable bend at the transition between the swing arm (2) and the boom (3) worries. The hose tensioner (14) can in detail as in of DE 94 06 405 U1.
Abwandlungen der gezeigten Aus führungsform sind in verschiedener Weise möglich. Zum einen kann nur ein einzelner Leitungshalter (10) vorhanden sein, der gegebenenfalls auch seitlich am Auslegergehäuse (3) gelagert ist. Auf den Schlauchspanner (14) kann bei geeigneter Ausbildung des Leitungspaketes (9) auch verzichtet werden. Gleichermaßen muß auch die schrauben- oder spiralförmige Windung des Leitungspaketes (9) nicht vorhanden sein. Ansonsten können die verschiedenen Bauteile des Industrieroboters (1) und das Werkzeug (5) in beliebig geeigneter Weise ausgebildet sein. Variabel sind ferner auch die Zahl, Ausbildung und Anordnung der einzelnen Leitungen im Leitungspaket (9). Modifications of the embodiment shown are in possible in different ways. For one thing, only one can single line holder (10) be present, the if necessary also on the side of the boom housing (3) is stored. On the Hose tensioner (14) can with appropriate training of Line package (9) can also be dispensed with. Alike must also the helical or spiral turn of the Line package (9) is not available. Otherwise you can the various components of the industrial robot (1) and the tool (5) is designed in any suitable manner his. The number, training and Arrangement of the individual lines in the line package (9).
- 11
- IndustrieroboterIndustrial robots
- 22nd
- SchwingeSwingarm
- 33rd
- Auslegerboom
- 44th
- Handhand
- 55
- WerkzeugTool
- 66
- Schwenkachse, LagerSwivel axis, bearing
- 77
- MotorenEngines
- 88th
- SchlauchführungHose guide
- 99
- LeitungspaketLine package
- 1010th
- LeitungshalterCable holder
- 1111
- Führung, TülleLeadership, spout
- 1212th
- DrehlagerPivot bearing
- 1313
- Ansatzapproach
- 1414
- SchlauchspannerHose tensioner
- 1515
- Schlauchpuffer, MuffeHose buffer, sleeve
- 1616
- LeitungshalterCable holder
- 1717th
- DrehachseAxis of rotation
- 1818th
- DrehachseAxis of rotation
Claims (7)
- Line arrangement for a multi-axis industrial robot (1) having a cantilever arm (3) and having a robot hand (4), with the lines (9) being arranged in a harness and being held in a line holder (10) such that they can move axially, with the lines (9) being intended for laying along the cantilever arm (3) as far as the robot hand (4), and the line holder (10) having a rotating bearing (12) for an arrangement, which can rotate, approximately on the central cantilever arm area and at a short distance from the cantilever arm housing, characterized in that flexible-tube buffers (15), which project like beads, are also arranged on the lines (9).
- Line arrangement - according to Claim 1, characterized in that the line holder (10) is intended to be arranged on the upper face of the cantilever arm (3) and has an essentially vertical rotation axis (17) when in its horizontal extended position.
- Line arrangement according to Claim 1 or 2, characterized in that the lines (9) are intended to be routed closely along the cantilever arm (3).
- Line arrangement according to Claim 1, 2 or 3, characterized in that the lines (9) are intended to be routed such that they are wound in a helical shape around the cantilever arm (3)-.
- Line arrangement according to one of Claims 1 to 4, characterized in that the line arrangement has a further line holder (16), which is intended to be arranged at the rearward end of the cantilever arm (3).
- Line arrangement according to one of Claims 1 to 5, characterized in that the line holder (16) has a rotating bearing (12) with an essentially horizontal rotation axis (18), and is intended to be arranged on an attachment (13) which projects upwards at the end of the cantilever arm (3).
- Line arrangement according to one of Claims 1 to 6, characterized in that a sprung flexible-tube tensioning device (14) is arranged on the lines (9).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE29803637U | 1998-03-03 | ||
| DE29803637U DE29803637U1 (en) | 1998-03-03 | 1998-03-03 | Cable routing for a multi-axis industrial robot |
| PCT/EP1999/001337 WO1999044792A1 (en) | 1998-03-03 | 1999-03-02 | Wiring arrangement for a multi-axial industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1060057A1 EP1060057A1 (en) | 2000-12-20 |
| EP1060057B1 true EP1060057B1 (en) | 2001-09-26 |
Family
ID=8053446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP99911727A Expired - Lifetime EP1060057B1 (en) | 1998-03-03 | 1999-03-02 | Wiring arrangement for a multi-axial industrial robot |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1060057B1 (en) |
| DE (2) | DE29803637U1 (en) |
| ES (1) | ES2161094T3 (en) |
| WO (1) | WO1999044792A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10224858B4 (en) † | 2002-06-05 | 2005-07-14 | Kuka Roboter Gmbh | Device for guiding a hose |
| JP4193089B2 (en) * | 2000-02-09 | 2008-12-10 | 株式会社安川電機 | Cable protection spring, cable protection spring fixing method, and robot with cable protection spring |
| SE0002654D0 (en) | 2000-07-14 | 2000-07-14 | Abb Ab | Manipulator |
| DE20112491U1 (en) | 2001-07-28 | 2001-10-18 | LEONI Protec Cable Systems GmbH, 98574 Schmalkalden | Cable routing in a multi-axis industrial robot |
| ITTO20040266A1 (en) | 2004-04-29 | 2004-07-29 | Comau Spa | INDUSTRIAL ROBOT |
| JP2006150496A (en) * | 2004-11-29 | 2006-06-15 | Fanuc Ltd | Wire-shaped body supporting device for robot, and robot provided with wire-shaped body supporting device |
| DE102008035194B4 (en) * | 2008-07-28 | 2012-07-12 | Siemens Aktiengesellschaft | X-ray system with a robot arm |
| DE102008035196A1 (en) * | 2008-07-28 | 2010-02-11 | Siemens Aktiengesellschaft | Diagnostic device i.e. X-ray diagnostic device, has image recording units, which are held by articulated arm robot directly or by support, and cable guide provided at robot arm for supply line |
| JP6572270B2 (en) | 2017-09-08 | 2019-09-04 | ファナック株式会社 | Robot with hollow wrist element |
| PL3900839T3 (en) * | 2020-04-24 | 2025-03-17 | ARCIN Spółka z ograniczoną odpowiedzialnością | System and method for spraying hot-melt adhesive onto glued surfaces and hot-melt adhesive composition |
| CN114407572A (en) * | 2022-02-11 | 2022-04-29 | 无锡工艺职业技术学院 | A three-dimensional to two-dimensional animation imitation hand-painted line drawing instrument |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4507042A (en) * | 1981-10-07 | 1985-03-26 | Yaskawa Electric Mfg. Co., Ltd. | Cable support of a robot |
| DE3434899A1 (en) * | 1983-10-19 | 1985-05-23 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | DEVICE FOR OUTSIDE HOLDING AND LEADING SUPPLY CABLES TO MOVING TOOLS OF MANIPULATORS |
| US4629860A (en) * | 1984-10-30 | 1986-12-16 | Lindbom Torsten H | Robotic apparatus and method for automatically moving a tool through three dimensions and manually to an extended position |
| DE8814906U1 (en) * | 1988-11-30 | 1989-01-26 | Reis GmbH & Co. Maschinenfabrik, 8753 Obernburg | Holder for a hose package on a robot arm |
| US5240092A (en) * | 1992-03-19 | 1993-08-31 | W. L. Gore & Associates, Inc. | Moving strain relief for spiralled flexible cable |
| DE9406405U1 (en) * | 1994-04-20 | 1995-08-24 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Device for guiding a line |
-
1998
- 1998-03-03 DE DE29803637U patent/DE29803637U1/en not_active Expired - Lifetime
-
1999
- 1999-03-02 ES ES99911727T patent/ES2161094T3/en not_active Expired - Lifetime
- 1999-03-02 DE DE59900285T patent/DE59900285D1/en not_active Expired - Lifetime
- 1999-03-02 WO PCT/EP1999/001337 patent/WO1999044792A1/en not_active Ceased
- 1999-03-02 EP EP99911727A patent/EP1060057B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| EP1060057A1 (en) | 2000-12-20 |
| WO1999044792A1 (en) | 1999-09-10 |
| ES2161094T3 (en) | 2001-11-16 |
| DE59900285D1 (en) | 2001-10-31 |
| DE29803637U1 (en) | 1999-07-15 |
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